CN117232516B - Mobile home equipment, navigation method, device and medium thereof - Google Patents
Mobile home equipment, navigation method, device and medium thereof Download PDFInfo
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Abstract
The invention discloses a mobile home device and a navigation method, a device and a medium thereof, wherein the mobile home device is provided with a main control module, a voice recognition module, a photoelectric displacement detection module and a path storage module, and the navigation method specifically comprises the following steps: the voice recognition module acquires and recognizes a voice instruction; the main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from the initial position to the target position; in the path learning process, a photoelectric displacement detection module acquires the moving direction and the moving distance of the mobile home equipment to obtain a moving path from a starting position to a target position; the path storage module stores a moving path; the mobile home device returns to the starting position along the moving path from the target position. The method provided by the invention can realize indoor navigation of mobile home equipment without arranging positioning mark points and a high-performance processor, and can be used for home equipment with low cost.
Description
Technical Field
The invention belongs to the field of navigation of mobile home equipment, and particularly relates to mobile home equipment, a navigation method, a navigation device and a navigation medium thereof.
Background
With the development of smart home, various kinds of smart devices are coming into the life field of people. At present, household indoor intelligent equipment such as an intelligent garbage can and a mobile tea table are household equipment with a mobile function, and the equipment can be moved to a corresponding position indoors according to the needs and control of a user through the guidance of an indoor navigation technology. Because satellite positioning cannot be used indoors, the current indoor navigation technology is realized through indoor positioning signals such as Bluetooth, WIFI or positioning mark points, and huge use barriers and cost barriers are manufactured for household indoor intelligent equipment. For example, in the indoor bluetooth navigation technology, a plurality of scattered bluetooth signal points are required to be arranged at corresponding positions, the equipment is required to detect the known bluetooth signal intensities, the system is required to set the position of each bluetooth transmitting point in advance, then the complex calculation of the embedded chip of the equipment is used for carrying out fuzzy positioning, and the positioning accuracy is greatly influenced by the arrangement number and the position of bluetooth signal hot spots; indoor WIFI navigation is similar to indoor Bluetooth navigation; the common inertial navigation can be realized by scanning the whole house data to perform complex operation and planning, and the complex operation and planning are dependent on adding various sensors and high-performance processors on the equipment, so that the equipment cost and the application complexity are improved.
Therefore, there is a need for an indoor navigation positioning technology that is relatively inexpensive and does not require the placement of positioning marker points and high performance processors.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the mobile home equipment, the navigation method, the system, the device and the medium thereof, and the indoor navigation can be realized without arranging the positioning mark point and the high-performance processor through voice control, so that the mobile home equipment can be used for the mobile home equipment with low cost.
In one aspect, an embodiment of the present invention provides a navigation method for a mobile home device, which is applied to a mobile home device, where the mobile home device is provided with a main control module, a voice recognition module, a photoelectric displacement detection module and a path storage module, and the navigation method for a mobile home device includes:
The voice recognition module acquires and recognizes a voice instruction;
The main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module so that the mobile home equipment moves from a starting position to a target position;
In the path learning process, the photoelectric displacement detection module acquires the moving direction and the moving distance of the mobile home equipment to obtain a moving path of the mobile home equipment from the initial position to the target position;
the path storage module stores the moving path;
And the main control module controls the mobile home equipment to return to the starting position from the target position along the moving path.
According to some embodiments of the invention, the voice instructions include a start learning instruction, a move instruction, and a learning end instruction; the main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from a starting position to a target position, and the method specifically comprises the following steps:
Responding to the learning starting instruction, and controlling the mobile home equipment to start path learning by the main control module;
according to the moving instruction, the main control module controls the mobile home equipment to move from the initial position to the target position along a specified direction;
and when the mobile home equipment moves to the target position, the main control module controls the mobile home equipment to stop learning according to the learning end instruction.
According to some embodiments of the invention, the voice command further includes a first operation command and a second operation command, and the navigation method of the mobile home device further includes:
Responding to the first operation instruction, and controlling the mobile home equipment to move from the starting position to the target position along the moving path by the main control module;
And responding to the second operation instruction, and controlling the mobile home equipment to move from the target position to the starting position along the moving path by the main control module.
According to some embodiments of the invention, the mobile home device is further provided with an obstacle detection module; the responding to the first operation instruction, the main control module controls the mobile home equipment to move from the starting position to the target position along the moving path, and the method further comprises the following steps:
when the obstacle detection module detects that an obstacle exists on the moving path in the process that the mobile home equipment moves from the initial position to the target position along the moving path, the main control module adopts an obstacle avoidance strategy to calibrate the moving path so as to avoid the obstacle;
The photoelectric displacement detection module acquires a calibration process of the moving path and obtains a corrected moving path according to the calibration process;
the path storage module stores the corrected movement path.
According to some embodiments of the invention, the obstacle avoidance maneuver includes:
When the obstacle is positioned right in front of the mobile home equipment, the mobile home equipment moves a first preset distance in a first direction and then moves right in front of the mobile home equipment, if the obstacle is still positioned right in front of the mobile home equipment at the moment, the mobile home equipment is controlled to continue to move the first preset distance in the first direction and then move right in front of the mobile home equipment, and the process is repeated until the obstacle does not exist right in front of the mobile home equipment or the repetition number reaches a first preset number; the first direction is the left direction or the right direction of the mobile home equipment;
When the repetition number reaches the first preset number, the mobile home equipment moves a second preset distance in a second direction and then moves forward, if the obstacle still exists in the right forward direction, the mobile home equipment is controlled to continue to move the second preset distance in the second direction and then move forward, and the process is repeated until the obstacle does not exist in the right forward direction or the repetition number reaches the second preset number; the second direction is opposite to the first direction;
and when the repetition times reach the second preset times, the mobile home equipment returns to the starting position.
According to some embodiments of the invention, a charging management module is disposed at the starting position, and the charging management module is electrically connected with the mobile home device, and is used for charging the mobile home device, controlling charging time, charging current, charging voltage, charging on-off condition and detecting battery charging state.
On the other hand, the embodiment of the invention also provides mobile home equipment, which comprises:
the voice recognition module is used for acquiring and recognizing voice instructions;
The main control module is used for controlling the mobile home equipment to perform path learning according to the recognition result of the voice recognition module so that the mobile home equipment moves from a starting position to a target position; the main control module is also used for controlling the mobile home equipment to return to the starting position from the target position along the moving path;
the photoelectric displacement detection module is used for acquiring the moving direction and the moving distance of the mobile home equipment in the path learning process to obtain a moving path of the mobile home equipment from a starting position to a target position;
And the path storage module is used for storing the moving path.
According to some embodiments of the invention, the mobile home device further comprises:
The obstacle detection module is used for detecting whether an obstacle exists on the moving path or not in the process that the mobile home equipment moves from the initial position to the target position along the moving path;
And the charging management module is used for charging the mobile home equipment, controlling charging time, charging current, charging voltage, charging on-off condition and detecting the charging state of the battery.
In another aspect, an embodiment of the present invention further provides a computer apparatus, including a memory and a processor, where the memory is configured to store at least one program, and the processor is configured to load the at least one program, for example, to perform the navigation method of the mobile home device according to any one of the embodiments of the foregoing aspect.
In another aspect, an embodiment of the present invention further provides a computer readable storage medium, in which a program executable by a processor is stored, where the program executable by the processor is used to perform the navigation method of the mobile home device according to any one of the embodiments of the foregoing aspect.
According to the mobile home equipment and the navigation method, system, device and medium thereof, the mobile home equipment has at least the following beneficial effects: according to the embodiment of the invention, the main control module, the voice recognition module, the photoelectric displacement detection module and the path storage module are arranged on the mobile home equipment, and the voice recognition module can acquire and recognize voice instructions; the main control module can control the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from the initial position to the target position; in the path learning process, the photoelectric displacement detection module can acquire the moving direction and the moving distance of the mobile home equipment to obtain the moving path of the mobile home equipment from the initial position to the target position; the path storage module can store a moving path; after learning is finished, the main control module can control the mobile home equipment to return to the starting position along the moving path from the target position. The method provided by the embodiment of the invention can realize the indoor navigation of the mobile home equipment by means of voice recognition and path learning without arranging positioning mark points and a high-performance processor, and can be used for home equipment with low cost.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a flowchart of a navigation method of a mobile home device according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a navigation method of a mobile home device according to an embodiment of the present invention;
FIG. 3 is a third flowchart of a method for navigating a mobile home device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an obstacle avoidance maneuver algorithm according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mobile home device module according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, a plurality means one or more, and a plurality means two or more, and it is understood that greater than, less than, exceeding, etc. does not include the present number, and it is understood that greater than, less than, within, etc. include the present number. The description of first, second or third is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The embodiment of the invention provides mobile home equipment and a navigation method, a system, a device and a medium thereof, which have at least the following beneficial effects: according to the embodiment of the invention, the main control module, the voice recognition module, the photoelectric displacement detection module and the path storage module are arranged on the mobile home equipment, and the voice recognition module can acquire and recognize voice instructions; the main control module can control the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from the initial position to the target position; in the path learning process, the photoelectric displacement detection module can acquire the moving direction and the moving distance of the mobile home equipment to obtain the moving path of the mobile home equipment from the initial position to the target position; the path storage module can store a moving path; after learning is finished, the main control module can control the mobile home equipment to return to the starting position along the moving path from the target position. The method provided by the embodiment of the invention can realize the indoor navigation of the mobile home equipment by means of voice recognition and path learning without arranging positioning mark points and a high-performance processor, and can be used for home equipment with low cost.
The control method according to the embodiment of the present invention is further described below based on the drawings.
On the one hand, referring to fig. 1, an embodiment of the present invention provides a navigation method of a mobile home device, which is applied to a mobile home device, where the mobile home device is provided with a main control module, a voice recognition module, a photoelectric displacement detection module and a path storage module, and the navigation method of the mobile home device includes, but is not limited to, the following steps:
step S100, a voice recognition module acquires and recognizes a voice instruction;
It should be noted that, the voice recognition module adopts the off-line voice command recognition chip to recognize the voice command, and converts the human voice signal into the digital signal which can be recognized by the chip, so that the indoor personnel can control the mobile home equipment through the simple voice command.
Step S200, the main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from a starting position to a target position;
it should be noted that, when the voice command identified by the main control module is detected and identified, the mobile home device enters a path learning mode to perform path learning. For example, in the embodiment of the invention, the indoor personnel can learn the first position through the instruction, so that the mobile home equipment enters a path learning mode for moving to the target first position, and waits for the subsequent training instruction of the indoor personnel.
Step S300, in the path learning process, a photoelectric displacement detection module acquires the moving direction and the moving distance of the mobile home equipment, and a moving path of the mobile home equipment from a starting position to a target position is obtained;
In the path learning process, indoor personnel continuously issue motion instructions, such as instructions of forward, backward, leftward, rightward, stop and the like, to the mobile home equipment to control the movement of the mobile home equipment. In the moving process, the photoelectric displacement detection module moves a photoelectric detection sensor carried on the household equipment, continuously calculates parameters such as path length, steering direction and angle in the moving process of the household equipment, processes the parameters through the microprocessor, and tidies the parameters into a moving path of the household equipment.
Furthermore, in the embodiment of the present invention, the photoelectric displacement detection module may use an optical mouse technology, which is similar to an optical mouse of a computer, and the core of the optical mouse technology is a low-resolution camera. The photoelectric displacement detection module is internally provided with a light emitting diode or a laser beam, the bottom of the mobile home equipment is illuminated by light rays emitted by the light emitting diode or the laser beam, and the reflected light rays are transmitted into the optical sensor to form images through a group of optical lenses. Thus, when the mobile home device moves, the moving track of the mobile home device is recorded as a group of consecutive images shot at high speed. And then analyzing and processing a series of images shot on the moving track by utilizing a digital microprocessor in the photoelectric displacement detection module, and acquiring the moving direction and the moving numerical value according to the change of the characteristic point displacement on the images.
Step S400, a path storage module stores a moving path;
After the photoelectric displacement detection module is arranged into the moving path, the moving path is stored in a memory inside the mobile home equipment and is associated with the voice command. For example, the path learning mode is entered by the voice command "learn position one" and after the movement path learning is completed, the movement path is stored in the path storage module and associated with the voice command "go to position one". When the mobile home equipment is at the initial position, the mobile home equipment moves from the initial position to the first position along the moving path after the voice recognition module recognizes the voice command of going to the first position.
Step S500, the main control module controls the mobile home equipment to return to the initial position from the target position along the moving path.
It should be noted that, when a complete moving path learning process is finished, the main control module controls the mobile home device to return to the starting position, and waits for the subsequent voice instruction of the indoor personnel.
It should be noted that fig. 1 is one of flowcharts of a navigation method of a mobile home device according to an embodiment of the present invention. The application scene of the navigation method comprises mobile home equipment such as a home intelligent assistant robot, an intelligent garbage can, a mobile tea table and the like. The user may inform the device of the target location by voice instructions, for example, to have the device navigate to a living room or bedroom. Through learning and storing path information, the device can navigate more intelligently and efficiently, and provides convenient home service experience for users.
According to some embodiments of the present invention, referring to fig. 2, the voice command includes a start learning command, a move command, and a learning end command, and in step S200 of the embodiment shown in fig. 1, the following steps are included, but not limited to:
Step S210, responding to a learning starting instruction, and controlling the mobile home equipment to start path learning by a main control module;
step S220, according to the moving instruction, the main control module controls the mobile home equipment to move from the initial position to the target position along the appointed direction;
In step S230, when the mobile home device moves to the target position, the master control module controls the mobile home device to stop learning according to the learning end instruction.
It should be noted that fig. 2 is a second flowchart of a navigation method of a mobile home device according to an embodiment of the present invention. In the above embodiment, the instruction to start learning represents an instruction to make the mobile home device enter the path learning mode, for example, including but not limited to an instruction such as "learn a first location", which indicates that the mobile home device needs to learn and store a moving path next as a moving path going to the first location. It can be understood that when there are multiple paths to be learned, different instructions for starting learning need to be used to instruct the mobile home device to learn different positions, for example, a "learn second position", "learn third position" and "learn desk position", and in addition, the instruction for starting learning is not limited to the format of "learn xx position", and any instruction agreed in advance may be used.
Further, in the above embodiment, the movement instruction represents an instruction for controlling the movement of the mobile home device in a certain direction, including, but not limited to, an instruction for controlling a specific orientation such as "forward", "backward", "leftward", "rightward", and an adjustment instruction such as "pause X minutes", "return". And the mobile home equipment learns a moving path to the target position according to the voice instruction.
Further, in the above embodiment, the learning end instruction represents an instruction that the mobile home device ends learning to a certain target location, for example, including but not limited to "learning complete", "completion of location one" and the like. It will be appreciated that when the path learning at a plurality of positions is completed, the same and voice instructions may be used as the learning end flag, or different instructions may be used as the learning end flag for each different path.
According to some embodiments of the present invention, referring to fig. 3, the voice command further includes a first operation command and a second operation command, and the navigation method of the mobile home device further includes, but is not limited to, the following steps:
Step S240, responding to a first operation instruction, and controlling the mobile home equipment to move from a starting position to a target position along a moving path by the main control module;
in step S250, in response to the second operation instruction, the main control module controls the mobile home device to move from the target position to the start position along the movement path.
It should be noted that fig. 3 is a third flowchart of a navigation method of a mobile home device according to an embodiment of the present invention. The first operation instruction is the instruction associated with one path direction, and indicates that the mobile home equipment is made to go to a target position corresponding to the path along any trained path, for example, the first operation instruction, namely "go to a first position", indicates that the indoor personnel want the mobile home equipment to go to a first position along the path corresponding to the first position; the second operation instruction indicates that the mobile home device is returned from the target position to the start position along the corresponding path, for example, when the mobile home device is in the "first position", the indoor person issues the second operation instruction of "please return" at this time, indicating that the mobile home device is desired to return from the "first position" to the start position along the corresponding path. It can be appreciated that the first operation instruction may be a plurality of different instructions, which indicate that the mobile home device is made to travel to different positions, for example, "travel to the second position", "travel to the third position", "travel to the desk position", etc., and in addition, the position of the first operation instruction is not limited to the format of "travel to the xx position", and any instruction that is agreed in advance may be used; since the second operation instructions are all instructions that it is desired to return the mobile home device to the home position, the second operation instructions for different positions may be the same or different to distinguish different paths.
According to some embodiments of the invention, the mobile home device is further provided with an obstacle detection module; in the step of responding to the first operation instruction, the main control module controls the mobile home equipment to move from the initial position to the target position along the moving path, the method further comprises the following steps of:
Step S241, when the obstacle detection module detects that an obstacle exists on the moving path in the process that the mobile home equipment moves from the initial position to the target position along the moving path, the main control module adopts an obstacle avoidance strategy to calibrate the moving path so as to avoid the obstacle;
Step S242, the photoelectric displacement detection module acquires a calibration process of the moving path and obtains a corrected moving path according to the calibration process;
In step S243, the path storage module stores the corrected movement path.
It should be noted that, in the actual use process of the mobile home device, there may be an obstacle appearing in a path when the mobile home device moves along a certain path, and at this time, the main control module of the mobile home device adopts an obstacle avoidance policy to avoid the obstacle. In the process of avoiding obstacles, the mobile home equipment inevitably deviates from a previously learned path, so that a photoelectric displacement detection module is required to re-detect the moving direction and the moving distance during obstacle avoidance, calibrate the learned path according to the re-acquired moving direction and moving distance and store the path into a path storage module. Further, when the mobile home equipment returns to the initial position from the target position, an obstacle exists in the path, the obstacle can be avoided by adopting the same method, and the data of the path can be updated through the photoelectric displacement detection module. It can be understood that most situations that the mobile home device encounters an obstacle to be avoided are that the mobile home device responds to the first operation instruction or the second operation instruction, and in a diagram of the round trip between the starting position and the target position, a moving path corresponding to the mobile home device is determined, for example, the mobile home device makes a round trip between the starting position and the first position, so that the modification of the path by the photoelectric displacement detection module only affects the path, and does not modify the moving paths going to other target positions.
According to some embodiments of the invention, referring to fig. 4, the obstacle avoidance maneuver further includes, when not limited to the following steps:
Step S244, when the obstacle is right in front of the mobile home equipment, the mobile home equipment moves a first preset distance in a first direction and then moves right in front of the mobile home equipment, if the obstacle is still present right in front of the mobile home equipment at the moment, the mobile home equipment is controlled to continue to move the first preset distance in the first direction and then move right in front of the mobile home equipment, and the process is repeated until the obstacle is not present right in front of the mobile home equipment or the repetition number reaches a first preset number; the first direction is the left direction or the right direction of the mobile home equipment;
step S245, when the repetition number reaches the first preset number, the mobile home equipment moves a second preset distance in the second direction and then moves to the right front, if an obstacle still exists in the right front at the moment, the mobile home equipment is controlled to continue to move the second preset distance in the second direction and then move to the right front, and the process is repeated until no obstacle exists in the right front or the repetition number reaches the second preset number; the second direction is opposite to the first direction;
In step S246, when the repetition number reaches the second preset number, the mobile home device returns to the starting position.
It should be noted that fig. 4 is a schematic diagram of an obstacle avoidance maneuver algorithm according to an embodiment of the present invention. According to the obstacle avoidance strategy, the mobile home equipment needs to conduct multiple movements or turning behaviors and judgments through the photoelectric displacement detection module. The main control module gradually corrects the corresponding path according to the multiple movement or steering behaviors. When the obstacle is avoided, after the first preset times and the second preset times are both reached, if the obstacle is still not successfully avoided, the mobile home equipment returns to the starting position from the current position. It will be appreciated that the moving path may be considered to be damaged by the obstacle, and retraining may be required, and the main control module may determine whether to delete the damaged path from the path storage module according to instructions of indoor personnel.
According to some embodiments of the present invention, a charging management module is disposed at the starting position, and the charging management module is electrically connected to the mobile home device, and is configured to charge the mobile home device, control charging time, charging current, charging voltage, charge on-off condition, and detect a battery charging state.
It should be noted that, in the embodiment of the present invention, the charging management module adopts various control mechanisms, which can prolong the service life of the battery and ensure the normal operation of the device. The key of the charging management module is that the charging voltage and the charging current at specific time can be controlled, and the charging voltage and the charging current are regulated according to specific time intervals so as to ensure that the battery is charged efficiently and safely; the charging management module can control the battery to stop charging automatically after the capacity is full in order to prevent overcharge and potential damage; the battery state detection control function, the charge management module can also monitor the state of the battery and provide real-time information of battery health, voltage level and other relevant parameters.
Referring to fig. 5, on the other hand, the embodiment of the present invention further provides a mobile home device, where the mobile home device includes:
the voice recognition module is used for acquiring and recognizing voice instructions;
The main control module is used for controlling the mobile home equipment to perform path learning according to the recognition result of the voice recognition module so as to enable the mobile home equipment to move from the initial position to the target position; the main control module is also used for controlling the mobile home equipment to return to the initial position from the target position along the moving path;
The photoelectric displacement detection module is used for acquiring the moving direction and the moving distance of the mobile home equipment in the path learning process to obtain a moving path of the mobile home equipment from the initial position to the target position;
And the path storage module is used for storing the moving path.
Fig. 5 is a schematic diagram of a mobile home device module according to an embodiment of the invention. In actual operation, a user may command the mobile home device to complete a series of tasks using voice instructions. Through the voice recognition module, the mobile home equipment can understand the instruction of the user and transmit the instruction to the main control module; the main control module performs path learning according to the instruction, obtains the movement information of the mobile home equipment through the photoelectric displacement detection module, and stores the movement path data into the path storage module; once the mobile home equipment completes the task or the user needs to return the mobile home equipment to the starting position, the main control module can control the mobile home equipment to return to the starting position along the same path according to the stored moving path data. In the embodiment of the invention, the mobile home equipment can efficiently execute tasks and has the capabilities of path planning learning and tracking. The user can freely move the mobile home equipment in the home through a simple voice instruction to finish various daily tasks, so that convenience and comfort of life are improved; in addition, the embodiment of the invention does not relate to a large number of sensors and complex control algorithms, so that the method and the device can be applied to a simpler chip, and the cost of intelligent mobile home equipment is further reduced.
According to some embodiments of the invention, the mobile home device further comprises:
the obstacle detection module is used for detecting whether an obstacle exists on the moving path or not in the process that the mobile home equipment moves from the initial position to the target position along the moving path;
and the charging management module is used for charging the mobile home equipment, controlling charging time, charging current, charging voltage, charging on-off condition and detecting the charging state of the battery.
It should be noted that, through the obstacle detection module, the intelligent path calibration and obstacle avoidance functions of the mobile home equipment can be realized, and the safety and reliability of the equipment are improved. In addition, the charging management module also ensures that the device has optimal battery management during charging, extending battery life.
A specific embodiment is given below for the overall scheme of the present invention:
example 1:
the household intelligent sports garbage can is of the type BIN_M & V_01, under the scene of an indoor large living room, the whole large living room only needs to be provided with one garbage can, a charging position (namely a starting position) of the garbage can is placed in a corner at the end of a living room corridor, and the garbage can cannot be seen in the whole living room, so that the garbage can is clean and comfortable.
The first time this family wisdom motion garbage bin is used, need carry out path study earlier, and the study mode is through sending the voice command, for example:
indoor personnel send out instructions: "xiaobin, begin learning";
BIN_M & V_01 can reply through the carried voice module: "received, start learning";
Indoor personnel send out instructions: "xialin, learn bit 1" to let bin_m & v_01 correlate the paths learned subsequently;
BIN_M & V_01 determines that the instruction is received and replies through the voice module: "received, learn position number 1";
indoor personnel send out instructions: "xiaobin, forward", bin_m & v_01 starts moving forward, and needs to continue with the following command when it is seen that steering is required;
indoor personnel send out instructions: "xiaobin, left", bin_m & v_01 turns to move to the left, and continues the following command again when it is seen that steering is required;
indoor personnel send out instructions: "little Bin, right", BIN_M & V_01 turn to move to the right, continue the following command again when it is seen that steering is needed;
indoor personnel send out instructions: the small binder arrives, and after learning, the small binder returns to the charging position for standby;
Indoor personnel send out instructions: "xiaobin, return", bin_m & v_01 automatically returns to the charging position along the learn path for standby.
In the whole process, the photoelectric displacement detection module of BIN_M & V_01 carries out accurate displacement measurement and calculation and records data, and the path data of the stroke '1 bit' is memorized in the path memory module of BIN_M & V_01. If a plurality of positions also need to be learned, the above steps are repeated to learn the position path No. 2, the position path No. 3 and the like.
After learning, the BIN_M & V_01 can be automatically positioned when needed, for example:
Indoor personnel send out instructions: "xiaobin, to bit 1";
BIN_M & V_01 determines that the instruction is received and replies through the voice module: "received, to bit 1"; the BIN_M & V_01 immediately starts to accurately move to the No. 1 position and stay through path data in the path storage module, and after the indoor personnel finishes using, a voice command is issued again: "xiaobin, return", bin_m & v_01 automatically returns to the charging position along the learn path for re-standby. If BIN_M & V_01 is needed to be in place at other positions, only a corresponding voice command needs to be sent.
In the course of tracking along the path, if the temporary obstacle is encountered, the obstacle detection module of BIN_M & V_01 starts to work, and the main processor MCU immediately performs obstacle avoidance operation to command the motion unit to avoid the obstacle. If the voice prompt is avoided for a plurality of times, the voice prompt is: the small bin encounters an obstacle, cannot surmount, returns now, returns a charging potential, and reaches a target position in time if the avoidance is successful. If a permanent obstacle appears in the path, the user may learn the corresponding path again. In the charging position, BIN_M & V_01 is subjected to charging management through a charging management module, and full energy is kept to receive the next 'task'.
It should be noted that the above embodiments are only examples, and that a specific mobile home device may be further modified and customized according to actual needs and technical limitations.
In another aspect, an embodiment of the present invention further provides a computer apparatus, including a memory and a processor, where the memory is configured to store at least one program, and the processor is configured to load the at least one program, for example, to perform the navigation method of the mobile home device in any one of the embodiments of the foregoing aspect.
In another aspect, an embodiment of the present invention further provides a computer readable storage medium, in which a program executable by a processor is stored, where the program executable by the processor is used to perform the navigation method of the mobile home device according to any one of the embodiments of the above aspect when the program is executed by the processor.
It should be appreciated that embodiments of the invention may be implemented or realized by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer readable storage medium configured with a computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, in accordance with the methods and drawings described in the specific embodiments. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes (or variations and/or combinations thereof) described herein may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, collectively executing on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the steps described above, the invention described herein includes these and other different types of non-transitory computer-readable storage media. The invention also includes the computer itself when programmed according to the methods and techniques of the present invention.
The computer program can be applied to the input data to perform the functions described herein, thereby converting the input data to generate output data that is stored to the non-volatile memory. The output information may also be applied to one or more output devices such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on a display.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (9)
1. The navigation method of the mobile home equipment is applied to the mobile home equipment, and the mobile home equipment is provided with a main control module, a voice recognition module, a photoelectric displacement detection module and a path storage module, and is characterized by comprising the following steps:
The voice recognition module acquires and recognizes a voice instruction;
The main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module so that the mobile home equipment moves from a starting position to a target position;
In the path learning process, the photoelectric displacement detection module acquires the moving direction and the moving distance of the mobile home equipment to obtain a moving path of the mobile home equipment from the initial position to the target position;
the path storage module stores the moving path;
the main control module controls the mobile home equipment to return to the initial position from the target position along the moving path;
the voice instruction comprises a learning starting instruction, a moving instruction and a learning ending instruction; the main control module controls the mobile home equipment to perform path learning according to the recognition result of the voice recognition module, so that the mobile home equipment moves from a starting position to a target position, and the method specifically comprises the following steps:
Responding to the learning starting instruction, and controlling the mobile home equipment to start path learning by the main control module;
according to the moving instruction, the main control module controls the mobile home equipment to move from the initial position to the target position along a specified direction;
and when the mobile home equipment moves to the target position, the main control module controls the mobile home equipment to stop learning according to the learning end instruction.
2. The method for navigating a mobile home device according to claim 1, wherein the voice command further comprises a first operation command and a second operation command, the method for navigating a mobile home device comprising:
Responding to the first operation instruction, and controlling the mobile home equipment to move from the starting position to the target position along the moving path by the main control module;
And responding to the second operation instruction, and controlling the mobile home equipment to move from the target position to the starting position along the moving path by the main control module.
3. The navigation method of a mobile home device according to claim 2, wherein the mobile home device is further provided with an obstacle detection module; the responding to the first operation instruction, the main control module controls the mobile home equipment to move from the starting position to the target position along the moving path, and the method further comprises the following steps:
when the obstacle detection module detects that an obstacle exists on the moving path in the process that the mobile home equipment moves from the initial position to the target position along the moving path, the main control module adopts an obstacle avoidance strategy to calibrate the moving path so as to avoid the obstacle;
The photoelectric displacement detection module acquires a calibration process of the moving path and obtains a corrected moving path according to the calibration process;
the path storage module stores the corrected movement path.
4. The navigation method of a mobile home device of claim 3, wherein the obstacle avoidance maneuver comprises:
When the obstacle is positioned right in front of the mobile home equipment, the mobile home equipment moves a first preset distance in a first direction and then moves right in front of the mobile home equipment, if the obstacle is still positioned right in front of the mobile home equipment at the moment, the mobile home equipment is controlled to continue to move the first preset distance in the first direction and then move right in front of the mobile home equipment, and the process is repeated until the obstacle does not exist right in front of the mobile home equipment or the repetition number reaches a first preset number; the first direction is the left direction or the right direction of the mobile home equipment;
When the repetition number reaches the first preset number, the mobile home equipment moves a second preset distance in a second direction and then moves forward, if the obstacle still exists in the right forward direction, the mobile home equipment is controlled to continue to move the second preset distance in the second direction and then move forward, and the process is repeated until the obstacle does not exist in the right forward direction or the repetition number reaches the second preset number; the second direction is opposite to the first direction;
and when the repetition times reach the second preset times, the mobile home equipment returns to the starting position.
5. The navigation method of a mobile home device according to claim 1, wherein a charging management module is disposed at the starting position, the charging management module is electrically connected with the mobile home device, and the charging management module is configured to charge the mobile home device, and control charging time, charging current, charging voltage, charging on-off condition, and detect a battery charging state.
6. A mobile home device, the mobile home device comprising:
the voice recognition module is used for acquiring and recognizing voice instructions;
the photoelectric displacement detection module is used for acquiring the moving direction and the moving distance of the mobile home equipment in the path learning process to obtain a moving path of the mobile home equipment from a starting position to a target position;
The main control module is used for controlling the mobile home equipment to perform path learning according to the recognition result of the voice recognition module so that the mobile home equipment moves from a starting position to a target position; the main control module is also used for controlling the mobile home equipment to return to the starting position from the target position along the moving path;
a path storage module for storing the moving path;
The voice instruction comprises a learning starting instruction, a moving instruction and a learning ending instruction;
the main control module is also used for responding to the instruction for starting learning and controlling the mobile home equipment to start path learning;
The main control module is also used for controlling the mobile home equipment to move from the starting position to the target position along a specified direction according to the movement instruction;
When the mobile home equipment moves to the target position, the main control module is further used for controlling the mobile home equipment to stop learning according to the learning end instruction.
7. The mobile home device of claim 6, further comprising:
The obstacle detection module is used for detecting whether an obstacle exists on the moving path or not in the process that the mobile home equipment moves from the initial position to the target position along the moving path;
And the charging management module is used for charging the mobile home equipment, controlling charging time, charging current, charging voltage, charging on-off condition and detecting the charging state of the battery.
8. A computer apparatus comprising a memory for storing at least one program and a processor for loading the at least one program to perform the navigation method of the mobile home device of any of claims 1-5.
9. A computer readable storage medium, in which a processor executable program is stored, characterized in that the processor executable program is for performing the navigation method of a mobile home device according to any of claims 1-5 when being executed by a processor.
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